Robotic Omniwheel

ABSTRACT

A robotic omniwheel for motion comprising various components such as in wheel motor assemblies with brake, supportive hub and axle assemblies, strut and yoke assemblies for suspension, a motor device having controller for steering motion, a motorized universal joint for rocking motion, an active transmission rod to uniquely engage lift and expansion which are managed by a drive logic system comprising status control system and sensor array, laser radar, GPS, and as well a navigational control system including wireless remote control for communication and monitoring motion states for transport and to monitor power levels therein. As well, an electrical system includes battery array to furnish power for the robotic omniwheel array assemblies and to the electrical components via power cable. Accordingly, a navigational system can control components by a cell phone device and by a remote controller device with toggle switches, and also by a remote control panel having touch screen monitor and thusly allowing the robotic omniwheel array to move about in a holonomic manner for transport.

CROSS REFERENCED TO RELATED APPLICATIONS

A notice of issuance for divisional patent application Ser. No.: 12/655,569, Publication number: US20110162896 A1, file date Jan. 4, 2010.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH & DEVELOPMENT

Non Applicable

THE NAMES OF PARTIES TO A JOINT RESEARCH AGREEMENT

Non Applicable

FIELD OF THE INVENTION

1. This disclosure relates generally to robotic omniwheel arraycomprising autonomous drive control systems including wireless remotecontrol for communication and monitoring motion states for holonomictransport.

BACKGROUND OF THE INVENTION

2. Related Art for Comparability.

In particular, related art describes omniwheel assemblies likened to thecited related art which have dissimilar characteristics such as lackingrange of motion for transport comparatively is the robotic omniwheelarray for unique motion comprising drive logic and navigational systemfor estimating motion states and for path planning to move about in aholonomic manner such as to steer, spin, pivot fore and aft and also tolift and lower a frame while transporting.

The present robotic omniwheel is comprised of an in wheel motor or a hubmotor which can apply torque inside the omniwheel frame unlike prior artand as well, a robotic omniwheel array can comprise in wheel motorassemblies including a brake which are thusly supported therein by huband axle assemblies which are coupled onto strut and yoke assemblies forsuspension.

Prior art does not discuss a robotic omniwheel yoke having assembliesthat can be coupled with a motor device to steer, a universal jointmechanism to pivot fore and aft and subsequently be coupled onto atransmission rod mechanism for lift and vertical extension.

Prior art does not discuss a robotic omniwheel comprising assemblieshaving active robotic omniwheel array that can be coupled onto a frameto house components such as the drive logic control and navigationmonitoring systems for estimating transport motion.

Prior art does not discuss a robotic omniwheel array comprising arobotic omniwheel array can be autonomously navigated and manuallycontrolled by a cell phone device, and by a remote controller withmaneuvering toggle and switches, and also by a control panel with touchscreen monitor.

SUMMARY OF THE INVENTION

The present is a robotic omniwheel comprising an in wheel motorincluding a brake which are supported by hub and axle assemblies andsuspended by strut and yoke assemblies which can be coupled with activecomponents such as a motor device, a universal joint mechanism, and amotorized rod mechanism for support which are managed by the drive logicand navigation monitoring systems for estimating motion states and forpath planning. An electrical power system manages the battery bank andfurnishes power to the motor device and electrical components and sensorarray are placed though out for monitoring operational status. Two ormore robotic omniwheels can be linked in an array and simultaneouslywork in a synchronized manner for transport motion.

The robotic omniwheel array can be autonomously navigated and manuallycontrolled by a cell phone device, and by a remote controller withmaneuvering toggle and switches, and also by a control panel with touchscreen monitor thus allowing the robotic omniwheel to steer, pivot foreand aft, and also to lift and lower by vertical expansion motions.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other objects and advantages of the present invention arobotic omniwheel will become more fully apparent from the followingdetailed description when read in conjunction with the accompanydrawings with like reference numerals indicating corresponding partsthroughout:

FIG. 1 shows depictions of a robotic omniwheel array for transportapplications comprising omni directional rocker arm and verticalextension assemblies for holonomic motion.

FIG. 2 shows depictions of a robotic omniwheel array for applications.

FIG. 3 shows a front view depiction of a robotic omniwheel array formotion applications comprising an omniwheel frame fixed to in wheelmotor assemblies with supporting hub, double strut armature with yokeassemblies and motor device for holonomic motion.

FIG. 4 shows a side view depiction for a single strut armature havinghollow conduit.

FIG. 5 shows a side view depiction of the omniwheel array encompassedwith a tire.

FIG. 6 shows a side view depiction for the motorized universal jointassemblies.

FIG. 7 shows the top portion of the U joint coupler.

FIG. 8 shows a side view depiction for the U joint coupled with thestruts yoke frame.

FIG. 9 is a prospective view of robotic omniwheel array.

FIG. 10 is a side view of a flowchart diagram depicting control schemewhereby, a frame or chassis are to house the drive logic system and thenavigational control system in communication which manages and monitorsbraking and velocity levels and the turning range within the mechanismsand motors.

FIG. 11 is a prospective view of robotic omniwheel array showing amotorized extension application.

FIG. 12 is a prospective view of robotic omniwheel array showing arrowsfor said U joint coupled onto the yoke top, thus arrows show pivotingmotion and steering motor motion.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, a robotic omniwheel will be described in details withreference to the drawings and assigned the same reference numerals.

Referring now in greater detail FIG. 1 a robotic omniwheel 25 for motionapplications comprising an omniwheel frame 1 fixed to in wheel motorassemblies comprising a motor 2 having stator and rotor and brake device3, supporting hub assemblies 4 with lug nut 5, double strut armature andyoke assemblies 6 which are turned by a motor device 10.

FIG. 2 for holonomic steering motion, and the strut with yoke 6 ishaving hollow conduit 7 to furnish cable 8 and electrical wiring 9 forsaid motor device 10, a universal joint mechanism 11, and a transmissionrod mechanism 12 which are to thus steer, spin, pivot and rock fore andaft in a holonomic manner for transport applications.

Referring now in greater detail FIG. 3 a robotic omniwheel array fortransport motion states comprise strut and yoke assemblies to supportthe hub assemblies 4, and as shown the yoke with strut armature canindirectly be coupled with the motor device 10 for steering motions.

The strut's hollow armature comprising internal conduit 7 can house USB8 cable and electrical wiring 9 and fuel lines which are not shown.

Prospectively robotic omniwheel array can be navigationally controlledby means of the drive logic 15, 16 and 17 control systems and alsomanually via wireless remote control components 20, 21, and 22 controlsthe power system furnishing electricity to activate the in wheel motor2, brake 3 and steering motor 10.

In greater detail FIG. 4 shows a front view depiction for roboticomniwheel assemblies 23 comprising an omniwheel frame 1 fixed to inwheel motor assemblies 2 with brake 3 and supporting hubs 4 and lugbolts 5 a and 5 b assemblies, double strut armature with yoke assemblies6 and motor device 10 for holonomic motion to thus travel aboutomni-directional for transport applications.

A robotic omniwheel frame 1 comprising an in wheel motor includes abrake 3, that is supported by the hub 4 a and 4 b and when activatedapplies pressure onto said hubs to slow and stop forward and reversethrust momentum therein.

The yoke with strut assemblies 6 can be couple onto the motor device 10to steer on point and while the drive components within the omniwheelframe work. Thusly a flange plate 13 can be coupled onto the motordevice 10 to spin at zero degrees for steering motions, and thus theserobotic omniwheel assemblies are numbered 23 which subsequently canbecome connected with a frame 14 via a flange bracket having bearingsand fastening bolts 13.

Referring now in greater detail FIG. 5, a robotic omniwheel array fortransport motion comprising wheel frame 1 assemblies supported by strutarmature 6 having therein hollow conduit 7 to thus furnish cable andelectrical wiring to the in wheel motor device 2 including a brake 3there through the hub assemblies 4 and subsequently the in wheel and hubassemblies are firmly positioned therein via the lug bolts 5 continuouspressure.

Referring now in greater detail FIG. 6 omniwheel wheel frame 1 shows thewheel frame outer surface encompassed with a tire 26, and may also beshaped to fit on rail. The robotic omniwheel strut and yoke assemblies 6can be coupled onto a supportive apparatus.

Referring now in greater detail FIG. 7 shows the motorized universaljoint assemblies 11A for yoke rocking motion. The robotic omniwheel thehub assemblies 4, 5 are firmly positioned therein and couple with strutand yoke assemblies 6 for suspension and thusly be coupled onto asupportive apparatus.

Referring now in greater detail FIG. 8 shows the U joint 11B affixed tothe robotic omniwheel array for fore and aft pivoting motions asillustrated in FIG. 12.

Referring now in greater detail FIG. 9 shows a robotic omniwheel arrayfor motion applications comprising an omniwheel frame fixed to in wheelmotor assemblies with supporting hub, single strut armature 6 with yokeshows conduit 7 furnishing cable and electrical wiring for the universaljoint mechanism 11, additionally connected with the motor device 10 tosteer, spin, pivot and rock fore and aft and thusly becomes connectedwith frame 14 via a flange bracket having bearings and fastening bolts13 to spin freely for steering motion thus this robotic omniwheel arrayis numbered 24.

Prospectively robotic omniwheel array can be navigationally controlledby means of the drive logic 15, 16 and 17 control systems and alsomanually via wireless remote control components 20, 21, and 22 controlsthe power system furnishing electricity to activate the in wheel motor2, brake 3 and steering motor 10 and importantly disengages power tostop velocity throttle via a kill switch to stop.

The universal joint mechanism is connected with the motor device 10steers on point. The active U joint pivots fore and aft as the motordevice 10 steers on point while driving in forward and in reversemotions. Thusly a flanged plate and bolts for coupling support 13 notfixed for vertical range of motion can be coupled with the motor device10 and subsequently can couple onto a frame 14 via the flanged plate andfastening bolts 13, thus robotic omniwheel assemblies having the sameare numbered 24 which may or may not comprise a tire with tread 26.

Referring now in greater detail FIG. 10 the coupled frame 14(indirectly) is to house the drive logic system (as the flowchartdefines a scheme shows communication, and the navigational controlsystem in communication a cell phone device or with remote controller tomanage and monitor breaking and velocity levels within the wheel frameassemblies and to manage and monitor the turning range within themechanism 10 motor which can have zero degree motion and requires slowcog rotation for steering on point, and manage and monitor the turningrange within the mechanism 11 universal joint to pivot fore and aft withlimited range of motion, and also manage and monitor the turning rangewithin the mechanism 12 a transmission rod which requires active geardrive to thusly lift and extend thus reaching upward to a preferredheight for raising and lowering a framed application.

Accordingly depending on the transport task the drive logic system 15may or may not include laser radar for obstacle avoidance, GPS forlocation awareness, and also the drive logic system 15 including astatus control system with sensor array 16 which are placed accordingly.The drive logic modes and micro processors communicate via USB 8connections for accessing and administering drive logic and manualcommands to said mechanisms 2, 3, 10, 11, 12.

Prospectively robotic omniwheel array can be navigationally controlled17 systems and also manually via wireless remote control componentscontrols the power system 18 furnishing electricity to activate the inwheel motor 2, brake 3 and steering motor 10 and importantly disengagespower to stop velocity throttle via a kill switch to stop. The drivelogic system includes an electrical system 18 which maintains charge toa battery bank and includes a grid charge access plug. The power supplycontrol system 18 provides AC voltage DC voltage via electric wire 9 andalso depending on the transport task fuel power via fuel lines may beapplied and (not shown).

The drive logic navigation control system 17 comprising wired andwireless communication with receivers manage mechanisms 2, 3, 10, 11, 12and drive logic components 15-17 having the same either by navigation bya cell phone device 20 and by a remote controller with maneuver toggle21 and switches, and a remote control panel with touch monitor 22 thuslyestimating motion states and for path planning.

The robotic omniwheel array can be autonomously controlled and manuallycontrolled via wired and wireless control systems nearby and from a far.

Referring now in greater detail FIG. 11 shows the entire roboticomniwheel 25 for motion applications comprising an omniwheel frame fixedto in wheel motor assemblies with supporting hub, single strut armature6 with yoke shows conduit 7 furnishing cable and electrical wiring forthe universal joint mechanism 11, additionally connected with the motordevice 10 to steer on point, spin, pivot and rock fore and aft, andthusly connected with a frame with a flanged plate and bolts forcoupling support 13 to spin freely for steering motion and subsequentlybecome connected with a transmission rod mechanism 12 can lift andextend frame 14.

The universal joint mechanism connected with the motor device 10 steerson point consecutively as the active U joint 11 pivots fore and aft thatalso for steering on point thus allowing rocking motions and to travelabout omni-directional, and thusly a flanged plate 13 is thusly coupledonto the transmission rod mechanism for lifting motions these roboticomniwheel assemblies are numbered 25 which can support a preferred frameapplication.

Referring now in greater detail FIG. 12 the robotic omniwheel depictionshows arrows for the universal joint's pivoting motions and for theyoke's spinning motions to steer the omniwheel apparatus, and therobotic omniwheel array depiction shows arrows for the universal jointmechanism connected with the motor device 10 which steers on point asthe active U joint 11 pivots fore and aft at the same time it issteering on point allowing rocking motions for steady transport.

The various embodiments specified vehicle contents describe in genericterms and are not technologically precise and thusly as claimed remainswithin accordance of the spirit the present invention, and it isapparent to those skilled in the art that many more entailed nuances arepossible within the scope of the invention.

While the above description contains specificities, these should not beconstrued as limitations on the scope of the invention, but rather asexemplification of preferred embodiments thereto. As have been brieflydescribed, there are many possible variations. Accordingly, the scope ofthe invention should be determined not only by the embodimentsillustrated, but by the appended claims and their legal equivalents.

1-12. (canceled) 13: A robotic omniwheel array having motion fortransport comprising: a wheel frame, a motor having a brake or a rotorand a stator for torque pressure to turn wheel frame therein, an axleand hub array thusly secured by lug bolts, a treaded tire, one or morestrut armature for support, a hollow conduit to house USB cable andelectrical wiring, and fuel lines, a yoke supporting strut assemblies, amotor device having a controller, a motorized universal joint device forrocking motion, a motorized rod mechanism for lift and verticalextension, a flanged plate and bolts for coupling support, a drive logicsystem for transport which can include; a CPU computer for communicationand monitoring components, and may also include; an array of microprocessor components for motion control, an optional laser radar systemfor obstacle avoidance, a GPS device for location awareness, a statuscontrol system having a plurality of sensor array which are placedaccordingly, a safety mechanism kill switch for motors, an array of USBcable with plugs, a navigation control system for transport controlwhich can include wired and wireless remote control components; a cellphone device for navigation control, and a wireless hand held remotecontroller device for navigation control, and a remote control paneldevice with touch screen monitor for communication and control, anelectrical system with power transfer device to furnish electricitypower to components which can include; at least one primary battery bankhaving a desired voltage range, and a battery charging device, and afueled motor when plausible comprising a fuel system, fuel tank and fuellines options, an array of power cable with plug which can beretractable, a grid charge system with access plugs to charge battery, acompartment for housing components, and an electric motor and a fueledmotor method for a hybrid robotic omniwheel array to thus furnishadditional horsepower accordingly which is not shown.